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Adept DeskTop 4.3 Online User Guide

June 2007

Adept DeskTop Online User Guide

Welcome to the Adept DeskTop 4.3 Online User Guide. To help get you started, use links below to

selected topics.

What would you like to do?

Connect to a controller

Learn about the Using Adept DeskTop Interface

Learn about Adept DeskTop Layouts

Learn about Access Levels

Find information on the following:

Task Manager Control

Program Manager Control

Robot Control

Tool Transformation Control

Digital I/O Control

Switches and Parameters Control

System Information Control

Variable Manager Control

Code Library Control

Frame Manager Control

Monitor Terminal Control

Watch Variable Control

Jog Pendant Control

Keyword Browser Control

Operator Control

Look for additional help on the Adept Website
http://www.adept.com/main/KE/DATA/adept_title_index.htmhttp://www.adept.com/main/KE/DATA/adept_title_index.htm


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Adept DeskTop 4.3 - Online Help 2

Installing Adept DeskTop

The following procedures describe pre-installation steps as well as the installation procedures.

The Adept DeskTop software for the PC is distributed on CD-ROM. The media contains installation

programs to properly install the software on the PC. The following software will be installed:

Microsoft .NET Framework 2.0

Adept DeskTop

Help Files

Before Installing Adept DeskTop Software

Before you install Adept DeskTop you must complete the following steps:

1. Install the Adept controller.

2. Uninstall any previous Adept DeskTop versions installed on your computer before installing the

new version.

Installing Adept DeskTop Software

To install Adept DeskTop:

1. Insert the CD-ROM into the CD-ROM drive of your PC. If Autoplay is enabled, the Adept DeskTop

CD-ROM menu is displayed. If Autoplay is disabled, you will need to manually start the CD-ROM.

2. Click Read Important Information. Information about the CD-ROM, the Adept online

documentation, and any last-minute release notes is displayed.

3. After reviewing the information, click the 'Close' icon in the upper-right corner of the information

window to close it.

4. Follow the instructions on screen.

5. Do not change the default destination folder to which Adept DeskTop will be installed.

After installation, Adept DeskTop can be started from the Start menu bar in Windows.


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System Requirements

To run and use Adept DeskTop Software, the following hardware and software are required.

PC Requirements

Hardware

Processor: Minimum: P4 / 1 GHz or higher

Disk Space: 500MB recommended minimum

Memory: Minimum: 256 MB RAM. Your operating system may require more.

Monitor: SVGA, minimum resolution 800x600

Ethernet card and networking hardware required for Ethernet connection.

Serial-interface cable required for serial connection.

Software

Operating System (OS): Windows XP (SP1 or SP2) or Windows 2000 (SP3 or SP4), withlatest critical updates for the version of Windows that you are running.

Microsoft .NET Framework version 2.0 (included in the Adept DeskTop installer)

Microsoft Internet Explorer version 5.01 or later. Necessary for viewing Online help.

Controller Requirements

Adept SmartControlleror AIB (amp in base) controller

V+: version 16.2D3 or higher

MicroV+:2.1A8 for Adept Cobra i600/800

Network Requirements

A fixed IP address is required for both the PC and the Controller. Typically, IP addresses are allocated by

your IT department.


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Configuring Ethernet Communications

There are many ways to configure the Ethernet communications for your Adept DeskTop system. You

can set up a basic Ethernet installation between one PC and one Adept controller. Or you can set up

more complex systems involving multiple PCs and controllers.

For complete information on using Ethernet in your Adept system refer to the online documentation in

the Adept Document Library on the Adept Website at http://www.adept.com/main/KE/DATA/

adept_title_index.htm

Once in the Adept Document Library, go to Software Titles/PC Software and select AdeptWindows. Open

the Installation topic to view numerous subtopics on installing and configuring Ethernet and NFS

servers.

In addition, refer to the Procedures, FAQs, & Troubleshooting section under Quick Links, for topics that

include:

Ethernet Troubleshooting Guide

Methods for mounting an NFS Drive

Using NFS Server with Windows

Using Omni-NFS Server with Windows XP Service Pack 2 (SP2)
http://www.adept.com/main/KE/DATA/adept_title_index.htmhttp://www.adept.com/main/KE/DATA/adept_title_index.htmhttp://www.adept.com/main/KE/DATA/adept_title_index.htmhttp://www.adept.com/main/KE/DATA/adept_title_index.htm


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Getting Started with Adept DeskTop

To access the full functionality of Adept DeskTop, you will need to connect to a Controller. For example,

you must connect to a controller to create or edit programs.See Connecting to a Controller.

Before Starting an Adept DeskTop Session

If you are currently running TFTP, you must stop the session. TFTP is integrated in Adept

DeskTop and running TFTP separately will interfere with some functions, such as the File

Manager utility.

Verify if you will need an Access Level password. See the Access Levelssection.

Starting an Adept DeskTop Session

To start Adept DeskTop:

6. Open Adept DeskTop. From Windows select Start > Programs > Adept Technology> Adept

DeskTop 4.3.

7. Typically, you will have to log in to an Access Level with a password. See the Access Levels

section.

8. Connect to a controller. This is necessary to access the full functionality of Adept DeskTop. See

Connecting to a Controller.

9. If needed, configure personal preferences in the Options form. See Setting Adept DeskTop

Options.

10.See Using Adept DeskTop Interfacefor information on the Adept DeskTop environment.

Related Topics

Using Adept DeskTop InterfaceOpening and Displaying Control Windows

Adept DeskTop Menus


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Using Adept DeskTop Interface

The Adept DeskTop interface is based on the Windows Visual Studio development interface and Window

standards.

The appearance of the Adept DeskTop interface can be modified using the multiple document interface

(MDI) functionality. You can modify and save the configuration of the desktop as 'layouts'. See Adept

DeskTop Layouts.

This section illustrates and explains different parts of the Adept DeskTop interface, including: Menus,

Toolbar, Status bar, Program Editor window, and Control windows.

Figure 1 Adept DeskTop - Docked Windows

Menus

The following drop-down menus are available in the menu bar: File, View, Utilities, Tools, Windows, and

Help. See the Adept DeskTop Menustopic for more information on these menus.

Toolbar

The toolbar appears directly under the menu bar. Icons in the toolbar provide quick access to Adept

DeskTop controls. Hover the cursor over an icon to see the name.

Status Bar

The Status Bar displays the information on the following:

Access Level (on bottom left)

Controller OS version

IP Address

Connection State (icon at bottom right)

Status bar

Control Windows

Toggle 'pushpin'

icon to autohide a

docked window

Toolbar

Menu

'Hidden' Control

Windows

Program EditorKeyword description


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Control Windows

A Control, sometimes called a Tool, is a module that provides specific functionalities to Adept DeskTop.

Controls interfaces can be docked almost anywhere in the interface as shown in Figure 1. For

additional help on docking or displaying windows, see Opening and Displaying Control

Windows

Most control windows provide a toolbar, for executing processes and tasks to the control.

Other interface elements that can be found in control windows are message boxes, displays,

status bars, and context menus.

Program Editor Window

The Program Editor is an online, interactive editor for V+ and MicroV+ programs. The Program Editor

performs syntax checking and formatting while you are programming. It also provides debugging

functionality. See the Program Editortopic for more details.

The Program Editor cannot be moved or docked in the interface. However you can open multiple pages

(program windows, as shown in Figure 2.)

Figure 2 Multiple Program Editor Windows Displaying Various Programs

Various program windows

are currently open in theProgram Editor

Connection status

Adept DeskTop

toolbar

Control window

toolbar


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Opening and Displaying Control Windows

Controls can be opened from the Adept DeskTop toolbar. The positions and state of control widows can

be saved: See Adept DeskTop Layouts.

Control windows can be placed in several different positions and configurations relative to the main

window of the Adept DeskTop interface:

Docked Windows: A dockable window can be connected to the border of the primary interface

window to create a docked window.

To dock a window, drag the title bar of the window to an edge of the main interface window.

To undock a window, drag the title bar of the window away from away from the edges of the

main interface.

Tabbed Window: Windows can dragged on top of each other and combined to form a single tabbed

window. There is no limit to the number of tabbed windows the user can put on top of each other.

However, it may make it difficult to see the complete description of the tab if there are too many.

Floating Window: Any docked window can be dragged off to become a separate, floating window.

You can drag and add other controls window to a floating window.

Auto Hide Mode: Windows in auto-hide mode are automatically hidden when not in use. To auto-hide

a window, click the pushpin icon at top right of the window (See Figure 1.) The hidden window is visibly

identified by a tab.

To display a hidden window, hover above the tab that identifies the window

To remove the auto-hide mode, hover over the tab to display the window and click the

pushpin icon.

You cannot auto-hide a floating window.

Related TopicsAdept DeskTop Layouts

Adept DeskTop Menus


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Adept DeskTop Menus

The following section gives an overview of the Adept DeskTop menus. Depending on your system,

setup, and user licenses, the menus in your interface may differ from the descriptions and images

below.

File Menu

New Program: See Creating a New Program.

Connect: Establishes communication between DeskTop and

the controller. See Connecting to a Controller.

Disconnect: Halts communications between Adept DeskTop

the controller.

Change Access Level: See Access Levels.

Layout: See Adept DeskTop Layouts.

Page Setup..., Print Preview..., Print...: Provides options

for printing documents (programs) that are open in the

Program Editor.

Exit: Closes Adept DeskTop.


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View Menu

Utilities Menu

Controller Configuration:

V+ Utilities: Opens the V+ Utilities Control.

Auto-Start: Opens the Switches and Parameters

Control.

Debug Tools:

Watch Variable: Opens the Watch Variable Control.

Monitor Terminal: Opens a Monitor Terminal window.

See Monitor Terminal Control.

System Resources:

Digital I/O: Opens the Digital I/O Control.

Switches and Parameters: Opens the Switches and

Parameters Controlto the Auto Startswitch. MicroV+

systems only.

Variable Manager: Opens the Variable Manager

Control.

System Information: Opens the System Information

Control.

Adept Graphics Window: Opens the Adept Graphics

Window Control.

The remaining selections can be toggled on or off the

displaying of Adept DeskTop controls. See related sections oncontrols.

For AdeptSight, see the AdeptSight online help.

The utilities available from this menu depend on the type

of system and the active licenses that are installed on the

system. The following are usually available to all systems

and users.

File Manager: Opens the File Manager Utility.

License Manager: Opens the License Manager Utility.

Pick and Place Wizard: Opens the Pick and Place

Wizard.


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Tools Menu

Windows Menu

Options...: Opens the Options form. See Setting Adept

DeskTop Options.

The following may be available depending on the Access

Level of the user.

Access Level Manager...: See Access Level Manager.

Controller IP Config...: See Controller IP Configuration

Wizard.

Operations Manager...: See Operations Manager.

Shows list of all windows currently open in the

Program Editor and provides options for closing

these windows.

A dot indicates the topmost (active) window in the

Program Editor.


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Access Levels

When you first open an Adept DeskTop session, you are prompted for a Access Level (user name) and

password as show in Figure 6.

What Are Access Levels?

An Access Level is a set of parameters that define user access to Adept DeskTop controls, utilities and

functionality. An Access Level includes a name, a password, and permissions. Permissions for controls

and utilities can be set as Full, Read-Only, or Hidden.

Only a system administrator can change and create passwords, and create and modify Access Levels. A

system administrator logs in at the Level 1 access level.

The Level1 access level cannot be deleted.

It is strongly recommended that on the first Adept DeskTop session, the system

administrator create a password through the Access Level Manager.

Once additional levels have been set by the Administrator, subsequent Adept DeskTop

sessions will display the Access Level of the user of the previous Adept DeskTop session.

Figure 6 Enter Access Level and Password

Entering an Access Level

The Enter Level Accessform allows you to enter an Access Level, with a valid name and password.

Access Level

Enter a valid Access level, or select an existing access level from the dropdown list.

If an incorrect or non-existent Access Level is entered, the error message shown in Figure 6

appears.

Password

Passwords can only be created and assigned by a top-level administrator (Level 1 access level).

Passwords are encrypted.

If an incorrect password is entered, the error message shown in Figure 6appears.

If you have lost or forgotten your password you must contact the administrator of your Adept

DeskTop software for a new password.

If you are the top-level administrator and have lost your password, you will have to contact

Adept Customer Support.


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Changing Access Levels

You can at any time change Access Levels. Before changing Access Levels you should save any changes

made to programs if necessary; these changes may be lost if you change to a level that does not have

full access to saving programs.

To change the Access Level:

1. From the menu select File > Change Access Level.

2. Alternatively you can double-click on the Access Level in the Adept DeskTop status bar.

3. You will be prompted to save any changes you have made to programs while in the current

Access Level.

4. To make changes, Click No, save changes and restart step 1.

5. Enter the new access level name and password


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Access Level Manager

The Access Level Manager allows the system administrator to set access levels for all the controls,

utilities, and functions of the Adept DeskTop program. This tool is restricted to the top-level

administrators of the system, who are logged in at Access Level 1, by default named 'Admin'.

Purpose of the Access Level Manager

The Access Level Manager is used to manage the list of access levels and add, delete or edit the

settings Access levels.

To open the Access Level Manager:

1. Make sure you are logged in at the Level 1 access level.

2.Choose Tools > Access Level Manager...

3. The Access Level Manager control opens, as illustrated in Figure 7.

4.See Configuring and Adding Access Levelsfor details on creating and editing Access Levels.

Figure 7 Access Level Manager

Using the Access Level Manager

The Access Level manager displays the list of existing Access Levels. Use the New, Edit, Clone,

Deletebuttons to make modifications to this list. In this dialog, you can also enable Adept DeskTop to

'lock' after a certain time of inactivity.

New

Opens the Access Level Editor for creation of a new level. Permissions to all controls and utilities will

initially set to Hidden.

Edit

Opens the Access Level Editor for editing of the selected Access Level.

Note:If you are not logged into the session as the 'Admin' system administratorof Adept DeskTop, the Access Level Manager is not available.

List of all currently

existing access

levels


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Clone

Opens the Access Level Editor with same settings as the selected Access Level. The administrator level

cannot be cloned.

Delete

Deletes the selected Access Level. The administrator level cannot be deleted.

Lock when not used for

When enabled, Adept DeskTop will lock when it has been idle for the set number of minutes. Once

locked, the user must log in with an access level name and password.

If you reenter at the same access level as before the lock up, your session will continue. If you enter

another access level, your session will be closed and a new session will be opened with the new access

level.

Related Topics

Configuring and Adding Access Levels


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Configuring and Adding Access Levels

The Access Level Editor provides the interface in which an administrator can set and modify the Access

Level parameters. Level 1 administrators can modify all settings but cannot modify the permissions for

Level 1, which is the administrator level for Adept DeskTop.

Figure 8 Access Level Settings

Level

Levels values range from 1 to 10. The permissions associated with each level are relative and can be

set by the Administrator. Only Level 1 permissions cannot be modified.

Level 1 is the top level and is reserved for administrators of the system. You cannot delete

Level 1, nor change the permissions for this access level.

The only changes allowed to Level 1 are modifications to the name and password.

You cannot create another Level 1 access level; if you try to create another Level 1, it will be

automatically changed to Level 2.

Name

The name assigned to the Access Level should reflects the status or function of users who will use the

Access Level. When Adept DeskTop is installed, there are initially four predefined Access Levels, which

can be modified by a Level 1 administrator.

Admin. Level 1. Full access to all controls and utilities visible in the Access Level Editor. This

is the only level that can access the Access Level Manager and a few other tools such as the

Operations Manager and the Controller Network Configuration Utility.

Relative value assigned to the

current level.

Higher numbers indicate more

restrictions.

Lower numbers indicate less

restrictions

Drop-down menu provides

permission options


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Developer. Level 2. Full access to all controls and utilities visible in the Access Level

Manager. Cannot administrate or configure Access Levels.

Maintenance.Level 5. Full access to most controls. Read only access to Program Editor and

variables.

Operator.Level 10. Full access only to Operator Control, Robot Control and Adept Graphics

Window. All other controls and utilities are hidden.

Password/Confirm Password

Create and confirm passwords in these fields. Passwords are optional, but strongly recommended.

Controls and Utilities

The Controlsand Utilitiestabs display elements for which permissions can be set. Use the drop-down

list to set permissions for the Adept DeskTop controls and utilities. The available permissions (AccessType) are:

Full: Full capacity to use, edit, and set properties of a controls and utilities.

Read Only: the user can open a control or utility but not modify properties.

Hidden: A hidden control or utility cannot be opened nor seen by the user.

To modify the permission on a control or utility:

1. Select an item from the Control or Utilities tab.

2. Double-click in the Access Type column.

3. Select the permission type (Access Type) from the drop-down box.

4. You can also set all access types (permissions) to a same value from the context menu. To do so,

right-click in the list to display the context menu then select Set all items to >type. See Figure

9.

Note:If you are a Level 1 administrator make sure that you do not lose your

password. If you forget or lose your administrator password, you will need to

contact Adept Technical Support.


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Connecting to a Controller

To use most of the Adept DeskTop tools and functions you must be connected to a controller. Adept

DeskTop can be used with the following controllers:

Adept SmartController CX

Adept AIB controller in an Adept Cobra i600 or Adept Cobra i800 robot

Adept AIB in Smart Amp/SmartAxis

To connect to a controller:

1. From the menu, select File>Connect...

2. In the Connect To Controllerform, select the System Type.

3. Depending on the System Type, select either the required COM port or the Ethernet address.

4. If necessary, click Scanto browse and locate the address of controllers that are available on the

network.

5.Click Connectto complete connection to the required Controller.

If another computer is already connected to this controller you will be prompted to choose

between continuing or cancelling the connection request.

6. The connection status is displayed in the Adept DeskTop status bar. See Figure 5.

Figure 4 Connect to Controller Form

System Type

Select the type of controller to which you want to connect.

Note:When you attempt scan/connect to a controller for the first time in Adept

DeskTop, the Windows XP Firewall may block the scanning or connecting

operations.

In such a case, Click 'Off' in the Windows Firewall window. This will add Adept

DeskTop to the list of exceptions, and unblock scanning and connecting.

After this, you may have to close the connection dialog and reattempt the

operation

Select Controller type

Enter or select Address/COM port

List of the available addresses or

COM ports for the selected controller

Scan to locate addresses of controllers

currently on the network


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Address

Enter, or select from the list at right, the Ethernet address of the controller to which you want to

connect. This appears only if the selected System Typeis SmartController.

COM

Enter, or select from the list at right, the COM port of the controller to which you want to connect. This

appears if the selected System Typeis Cobra iSeriesor Smart Axis.

Scan

Scans the network to find the ethernet address of available controller. Addresses found by the Scan

procedure are displayed in the list box.

Connect

Initiates the connection to the controller and closes the form. The status connection icon appears in the

Adept DeskTop status bar. See Figure 5.

Cancel

Cancels changes and closes the form.

Figure 5 Connection Status Icon in the Status Bar

Address or Port of

the controller

Connection status icon:

Double-click to connect/

disconnect


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Adept DeskTop Layouts

Windows and tools can be positioned in different manners in the Adept DeskTop user interface, due to a

multiple document interface (MDI), much like Visual Studio.

This allows you to position child windows in the main Adept DeskTop window (docked) or in separate

windows (floating). Docked windows can be displayed at all times (standard tabs) or auto-hidden (sidetabs).

The layoutof the user interface refers to position and state of windows in the Adept DeskTop user

interface. You can configure layouts to suit different needs. For example, the system programmer can

create a custom user interface layout for programming tasks, and create a different desktop for the

workcell operator.

Figure 10 Adept DeskTop - Docked Windows

Default Layouts

There are three default layouts installed with Adept DeskTop. These layouts cannot be deleted nor

modified.

Adept DeskTop Default: Shows the controls and windows most commonly used to create

and edit programs and tasks.

Empty: Useful for creating a completely new layout. See Creating a Custom DeskTop

Layout.

Operator: Usefulfor configuring a layout that corresponds to an Operator access Level. See

Operator Layout.

Move (hover) cursor over tab to

display windows that are 'hidden'

(Auto-Hide)

Toggle pushpin icon

to auto-hide a

docked window

Docked windows can

be repositioned by

dragging with the

cursor

Status bar


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Operator Layout

The default Operator Layout contains only the windows that are enabled when the default Operator

Level user access is enabled. These controls are those typically required for basic operation-level tasks

in a workcell:

The Robot Control

The Operator Control

Figure 11 Default Operator Layout

Changing Layouts

To change layouts:

1. From the Adept DeskTop menu select File >Layout >Select >layout name

2. Select a layout from the list of available layouts. Available layouts are the default Adept DeskTop

layouts and any layouts you have saved.

Any layouts saved in previous Adept DeskTop versions are displayed in Adept DeskTop 4.1. Note that

layouts are no longer stored as *.lyt files as in previous versions; layouts are now stored as part of your

Adept DeskTop preferences, on your computer.

Saving Layouts

At any given moment, you can save the layout information as a new layout. See Saving DeskTop

Layoutsfor more details.

Note:Selecting the Operator Layout will NOT log the user into the Operator

Access Level.

Robot Control

Operator Control


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Deleting Layouts

To delete a layout:

1.Choose File > Layout > Delete >layout name.

2. Choose the layout you want to delete. Default layouts do not appear in the list because the

cannot be deleted. See Default Layouts.


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Creating a Custom DeskTop Layout

Adept DeskTop allows you to create and save custom desktop layouts. After a desktop layout is created

and saved, it can be loaded through the Adept DeskTop menu bar.

This allows you to create layout that is tailored for your application, or for a specific type of user. For

example, a system designer may create a custom desktop for programming tasks, and create a

different desktop for the workcell operator.

To create a new layout, you can start from the default "Empty" layout.

To create a new custom layout:

1. From the Adept DeskTop menu, select File > Layout > Select > Empty.

2. Begin placing items on the blank desktop. For example, if you would like your desktop to contain

a Robot Control window, from the Adept DeskTop menu bar, select View > Robot Control.

Robot Control window is displayed on the desktop.

3. Continue placing items on the desktop until it contains everything required for your application.

4. Position each item on the desktop by clicking the title bar of the item and dragging the item tothe desired position. The position of windows and items will be saved in the layout.

5. To remove an item from the desktop, simply click on the item to select it. Then, click the Close

icon (located in the upper right corner of the item window) to remove the item.

After you have arranged items on the desktop; save your layout so that you can reload the layout at a

later time.For more details on saving the current desktop, see Saving Layouts.

Related Topics

Saving DeskTop Layouts


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Saving DeskTop Layouts

A configuration of windows and controls in the Adept DeskTop interface is called a 'layout'. Layouts can

be saved to memory and recalled when needed.

There are three default layouts provided in Adept DeskTop:

Adept DeskTop Default

Operator Layout

Empty

You cannot delete default layouts but you can use default layouts as a basis for creating custom

layouts.

To save the current Adept DeskTop layout:

1. From the Adept DeskTop menu, select: File > Layout > Save(or Save As...).

2. Enter information in the Enter new layout nameform.

3. Once the layout is saved you can reload it from the menu selecting File > Layout > Select >layoutname.

Figure 12 Adept DeskTop - Saving a New Layout

Layout name

Enter the name of the layout.

OK

Saves the current layout with the new name and close the form.

Cancel

Cancels changes and closes the form.

Related Topics

Default Layouts

Creating a Custom DeskTop Layout


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Setting Adept DeskTop Options

The Options form allows you to customize the appearance of Adept DeskTop. For example, from this

form, you can:

Set the text size and colors for the Program Editor.

Set the text size and colors for the Monitor Terminal.

Set startup options and other program preferences.

To open the Options tool:

1. Select: Tools > Options.

2. Select a folder icon to access options and preferences for various items.

Figure 3 Adept DeskTop Options Form

To modify options:

1. In the list at left of the Options form, select an option.

Options are classed into three categories: Controls, Desktop, or Controller.

2. Settings and parameters for the selected option are displayed on the right side of the Options

form.

3. For more details on configuring options, refer to the following topics:

Setting Controls Options

Setting Desktop Options

Setting Controller Options


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Setting Controls Options

Use options in the tab to set the colors, fonts and other appearance properties of the Program Editor

and theMonitor Terminal. The Sampledisplay shows the effect of the selected settings.

Font

Opens a Fontproperties form in which you can select font type, color, and size.

Display items

This lists allows you to select an item and view or select the color that is used to display the item in the

Program Editor or the Monitor Terminal.

Color

Click this button to select and change the color that will be used to display a selected item in the

Program Editor or the Monitor Terminal.

Syntax Highlighting

Syntax highlighting is a feature of the Program Editor that assign different colors to V+ and MicroV+

code, according to the category of elements in a program. This enables you to easily identify elements

in a program and helps debug and identify syntax errors. By default, syntax highlighting is enabled.

To modify syntax highlighting colors:

1. Select a category in theDisplay itemslist.

2. Click the Color button.

3. Select or create a color in the Color picker dialog, then click OK.

Legacy keyboard shortcuts

Enabling this check box applies the legacy shortcut keys used with the Adept Windows SEE editor. By

default Adept DeskTop 4.3 applies standard Windows shortcut keys. Long-time users of Adept DeskTop

may prefer to use the legacy shortcuts. To do so enable this check box.

Table 1:and Table 2:illustrate some standard keyboard shortcuts and legacy keyboard shortcuts.

Table 1: Example of standard Window (R) keyboard shortcuts used by Adept DeskTop

Keys Action

Ctrl+A Select All

Ctrl+C Copy

Ctrl+F Find

Ctrl+V Paste

Ctrl+X Cut

Ctrl+Z Undo

F1 Display contextual Help window

F5 Execute (run) a program

LEFT ARROW Left one unit

RIGHT ARROW Right one unit

UP ARROW Up one unit or line


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Table 2: Example of Legacy Keyboard Shortcuts

DOWN ARROW Down one unit or line

HOME To the beginning of the line /To the beginning of the data

(topmost position)

END To the end of the line /To the end of the data (bottommost

position)

TAB Next field / To next tab position

Keys Action

Ctrl+B Add or remove breakpoints to a program.

Ctrl+S or

Shift+F5

Single step operation that skips stepping through a subroutine call.

Ctrl+X or F5 Single step operation that will enter a subroutine call.

Ctrl+G The current position of the cursor becomes the next point the program starts

from.

Pause Pause the program task execution.

Ctrl+R Retries the current line.

Ctrl+P Proceeds the task until the next break point or program terminates.

Keys Action


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Setting Desktop Options

Open "Terminal Monitor" control on program output

When this option is enabled, the Monitor Terminal control automatically opens on program output, if the

program uses a TYPE instruction.

If the Monitor Terminal window is already open, there is no effect.

If this option is selected and there is active output from a program, you will not be able to

close the monitor window.

Load Utilities

When this option is enabled, Adept DeskTop loads external utilities. Disable this option to speed up

loading of Adept DeskTop or when debugging the system.

Show Version in title bar

When this option is enabled, the Adept DeskTop software version is displayed in the title bar of the

Adept DeskTop window.

Maximize DeskTop on startupWhen this option is enabled, the Adept DeskTop interface window is maximized in your monitor when

you open an Adept DeskTop session.

Help Location

Adept DeskTop has integrated online help that you can access at anytime by clicking F1. However, to

access additional Adept documentation that is not included in the integrated online help, you can use

this option to set the location of documentation that is located elsewhere, such as on the Adept Online

Manuals CD.

Open Connect dialog on startup

When this option is enabled, the Connect to Controller dialog automatically opens when you open an

Adept DeskTop session.


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Setting Controller Options

Automatically connect using the last connection

When this option is enabled, Adept DeskTop will automatically connect to the controller through the last

used connection method.

Check for DDT prompt for V+ SystemsWhen this option is enabled, Adept DeskTop detects and displays the DDT window. This option is

enabled by default.

If DDT is not detected, Adept DeskTop attempts to connect to the control during system

startup.

Disabling DDT detection can speed up connection time.

On Error

These options affect the actions performed by Adept DeskTop when the controller encounters an error.

By default, Ask user for directivesis enabled.

Close the connectionWhen this option is enabled, Adept DeskTop automatically closes if there is a communication error. The

error is logged to the file before exiting Adept DeskTop.

Ask user for directives

When this option is enabled and an error occurs Adept DeskTop will ask the user what action to take. All

communication errors are logged to a file even if they are ignored.


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The Program Manager control allows you to create, load, store and delete programs. Also, from the

Program Manager you assign programs to specific tasks by dragging programs to tasks in the Task

Manager.

To open the Program Manager

1. From the Adept DeskTop menu, select View > Program Manager.

2. Alternatively, select the Program Manager icon from the toolbar.

3. Dock the window if needed. Typically, it is docked above the Task Manager window to facilitate

dragging programs to the task list.

Figure 13 Program Manager Control in V+

The appearance of the Program Manager differs depending on whether you are in V+ or MicroV+.

The Program Manager in V+

In V+, program files are 'contained' in one or more modules as illustrated in Figure 13.

SeeUsing the Program Manager Controland Saving Programs in V+for more information.

The Program Manager in MicroV+

In Micro V+, Programs are not 'contained' in modules; all programs are listed in a 'flat' hierarchy as

shown in Figure 14.

Programs are not stored as files, instead they are saved as a block, on the controller, in

NVRAM.

You cannot drag and drop programs from the PC into the task manager

You cannot copy/paste programs.

To assign a

program to a task,

drag program onto

a task in the Task

Program Manager toolbar

Modules and programs currently on the

controller.

Bold letters indicate that one or more programs

have been modified


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Figure 14 Program Manager Control in MicroV+

Protected Programs and Modules

Protected programs are displayed in the program manager but these programs cannot be renamed,

modified, moved or deleted. The module that contains one or more protected programs is a protected

module that shares the same restrictions as a protected program.

Cutand Copyfunctions are not active on protected items.

Programs cannot be added to a protected module.

A protected program in a module cannot be deleted. This preserves the integrity of the

module.

You cannot create a code clip from protected elements nor copy the element to a clipboard.

You candrop a protected item to a task in the Task Manager.

Program Manager Toolbar and Context Menu

The actions or tasks described below launched from the toolbar or the context menu.

To assign a program to

a task, drag program

onto a task in the Task

Manager

Program Manager toolbar

Programs currently on the controller.

Bold letters indicate that one or more programs

have been modified


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Figure 15 Program Manager Toolbar and Context menu

Edit selected program

Opens a selected program in the Program Editor. If the program is already open, it becomes the active

program in the Program Editor. If there is an error in the program code, the icon changes to a question

mark to indicate this condition.

Create New Program

Opens the New Program dialog that asks for the new program name and module name. See Creating a

New Program.

Open Program

Opens a existing program file and adds it tho the Program Manager. See Opening Programs in the

Program Editor.

Save As...

Saves files to PC or Controller. See Saving Programs and Modulesfor details and differences between

V+ and MicroV+ systems.

Save Module

Saves the module with the last filename used to load or save the module. If this file has been

previously saved, a dialog opens showed to ask for a filename. Unsaved modules appear in bold type in

Program Manager list. Does not apply to MicroV+ systems.

Save All Modules

Saves all modules currently in the Program Manager to the controller, with the last used filename. Adialog opens for each filename that is not yet defined. Does not apply to MicroV+ systems.

Save All Reals

Saves to file all real values currently in the selected program. The values are stored to the specified

destination, with the file extension 'rv'.

Toolbar

Context menu


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Save All Locations

Saves to file all location values currently in the selected program. The values are stored to the specified

destination, with the file extension 'lc.

Save All Strings

Saves to file all string values currently in the selected program. The values are stored to the specified

destination with the file extension 'st'.

Cut Program

Removes a selected program so it can be pasted to another module. If the program is not pasted

elsewhere, it is permanently deleted. Does not apply to MicroV+ systems.

Copy Program

Copies a program so it can be pasted to another module. Does not apply to MicroV+ systems.

Paste

Pastes (adds) the program to a selected module after a Cut Program or Copy Program operation. Does

not apply to MicroV+ systems.

Search and Replace

Opens a Search and Replace dialog that allows you to find and replace text in program files.

Delete

Permanently deletes the selected program so it can be pasted to another module.

Zero contents of controller memory

Clears from memory all programs and variables that have not been saved as well as any changes made

to programs and modules since the last 'Save'.

Rename

Enables you to rename a selected program. This function is not active on protected items.

Refresh

Refreshes the list of programs in the Program Manager.

Help

Opens Adept Online Help to the Program Manager section.

Refresh list of programsUpdates the list of modules and programs.

Related Topics

Creating a New Program

Using the Program Manager Control

Saving Programs and Modules

Note:There is no 'undo' for the Zero Memory operation. A warning prompt is

displayed, with an option to cancel the operation, before this command is

executed.


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Using the Program Manager Control

From the Program Manager control you can manage programs, create new programs, and assign

programs to tasks.

The use of the Program Manager control differs between V+ and MicroV+ systems. Refer to the section

below that applies to your system.

Figure 16 Program Manager Interface

Managing Programs in V+

The Program Manager displays the list of all programs in a hierarchical view, organized by modules.

From this list you can carry our various operations on programs through the toolbar, the context menu,

or by dragging elements in the interface.

Programs in the Program Manager are physically on the controller. Until a program is saved, it exists in

volatile memory (RAM) only. See Saving Programs in V+for details on saving files and modules.

Opening Programs

To open a program and add it to the program list:

Drag any program file (*.V2) from the Microsoft Windows Explorer or the Adept File Manager

Utility and drop it onto this area. The file will automatically be loaded into the memory of the

connected Adept controller.

From the toolbar, select Open Program. In the Openform, browse to find a file on the

controller or on the computer.

Creating New Programs

See the section Creating a New Program.

Saving Programs

See the section Saving Programs in V+.

Modules and programs

indicated by yellow icon

are protected and cannot

be modified

Modules and

programs in bold

letters indicate

unsaved

modifications


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Deleting Programs

Programs that are assigned to a task cannot be deleted from the Program Manager. For this reason you

cannot delete a module that contains a program that is in a task execution stack. You must first clear

the task execution task, then delete the program or module. See Using the Task Manager Control.

You can delete either a selected program or module from the task, with the Delete Program/Module

icon in the toolbar or the Deleteinstruction.

Opening Programs in the Program Editor

To open and edit a program in the Program Editor:

Select a program in the list, then click the Edit Programtoolbar or context menu.

You can also double-click on a program in the list to open it in the Program Editor.

Assigning a Program to a Task

To assign a program to a task, select a program and drag it onto a task in the Task Manager.

From there you can use the Task Manager operations to modify or manage the task.

Renaming a Program

To rename a program, select a program and then select Renamefrom the context menu or

click F2. Alternatively, you can click on the program name in the list.

When the name of the program is edited, the arguments and the parentheses are removed

and only the name can be modified. The arguments and the parentheses are added back

after editing.

If you want to modify or remove arguments that appear after the program name, you must

open the program in the Program Editor and modify or remove the arguments in the code.

Moving Programs Between Modules

A program can be moved or copied to other modules. Note that there cannot at any time be two or

more programs with the same name. Therefore any program that is copied to another module must be

renamed.

To remove a program from a module and place it in another module:

Select a program the use Cut Programoperation followed by a Pasteoperation on a

selected module.

Alternatively, you can drag the selected program to a new module.

If you drag a program to an empty area in the Program Manager, a dialog opens to ask you

for a new module name; your program will be copied or moved to the new module.

You cannot move a program that is currently assigned to a task.

To copy a program from a module to another module:

Select a program the use Copy Programoperation followed by a Pasteoperation on a

selected module.

Drag the selected program, while holding the CTRL key, to a new module.


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Managing Programs in MicroV+

The Program Manager displays the list of all programs currently in memory. From this list you can carry

our various operations on programs through the toolbar, the context menu, or by dragging elements in

the interface.

Programs in the Program Manager are physically on the controller. Until a program is saved, it exists in

volatile memory (RAM) only. See Saving Programs in MicroV+for details on saving files and modules.

Opening Programs

To open a program from the PC:

1. From the toolbar, selectOpen Program > from PC.

2. In the Openform, browse to find a file on the controller or on the computer.

To open a program in NVRAM:

1. From the toolbar, select Open Program > from NVRAM.

Creating New Programs

See the section Creating a New Program.

Deleting Programs

Programs that are assigned to a task cannotbe deleted from the Program Manager. You must first clear

the tasks execution stack, then delete the program. See Using the Task Manager Control.

You can delete either a selected program or module from the task, with the Delete Program/Module

icon in the toolbar or the Deleteinstruction.

Saving Programs

See the section Saving Programs in MicroV+.

Figure 17 Program Manager Context Menu in MicroV+

Opening Programs in the Program Editor

To open and edit a program in the Program Editor

Right-click here to

display context menu

Bold letters indicate

unsaved changes


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Select a program in the list, then click the Edit Programtoolbar or context menu.

You can also double-click on a program in the list to open it in the Program Editor.

Assigning a Program to a Task

To assign a program to a task, select a program and drag it onto a task in the Task Manager.

From there you can use the Task Manager operations to modify or manage the task.

Renaming a Program

To rename a program, select a program and then select Renamefrom the context menu or

click F2. Alternatively, you can click on the program name in the list.

When the name of the program is edited, the arguments and the parentheses are removed

and only the name can be modified. The arguments and the parentheses are added back

after editing.

If you want to modify or remove arguments that appear after the program name, you must

open the program in the Program Editor and modify or remove the arguments in the code.

Related Topics



Using the Task Manager Control


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To create a new program:

1. From the Adept DeskTop menu, select File > New Program.

2. Alternatively, from the Program Manager toolbar select Create New Program.

3. In the New Program form, enter the name for the new program and enter or select a module

name.

4. The program is added to the Program Manager list, in the designated module and the new

program is opened in the Program Editor. See Program Editorfor information on writing and

editing programs.

Figure 18 New Program Form

Program Name

Enter the name of the new program of the program that will be created.

If you want to create a program with arguments, you can specify the argument(s) in the

program name, in parentheses. Figure 18illustrates an example where the program

'prgrm_test' will be created containing the argument 'er'.

Empty spaces are not allowed in program names. A name cannot exceed 15 characters.

Module name

Enter the name of the module to which the new program will be assigned or select a module name from

the drop-down list.

Empty spaces are not allowed in module names. A name cannot exceed 15 characters.

Modules only apply to V+. There are no modules in a MicroV+ system.

Create

Creates the new program, adds it to the program Manager list, and opens the program in the Program

Editor.

Cancel

Cancels any changes and closes the form.

Help

Opens the Adept DeskTop online help to the related help topic.

Type module name

or select it from list

(V+ systems)

'Create New Program' icon

opens New Program form


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Related Topics




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The saving and storing of files on the controller differs between MicroV+ and V+ systems. This section

describes the effect of the different actions that you can use to save program data in each of these

systems.

Saving Programs in V+In V+, programs and modules can be save to the controller or the PC.

You have the option of saving all modules, all programs, or only selected modules or

programs.

Optionally, you can save data in the files.

SeeTable 3:for details on the correspondence between file saving options and V+ keywords.

Figure 19 Save As dialog for Saving V+ Files

Options for Saving

As illustrated in Figure 19, there are three options that can modify the content of saved files.

All

When Allis enabled, all modules and programs are saved.

Selection Only

When Selection Onlyis enabled, only the selected module or program is saved. All dependencies are

also saved.

with Data

When with Datais enabled, all variable data used by the saved modules and programs is saved to file.

Save As

This operation allows you to saves the current selection under another filename.

The Save dialog that opens allows you to save only the Selection(selected program or

module) or Allprograms or modules that are in memory.


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To save all variables that are in the saved module(s) or file(s) enable the with Datacheck

box.

Table 3: Relation between Save Options in Adept DeskTop and V+ Keywords

Save Module

This operation saves the selected module to the controller, with the last filename used to load or save

the module.

This function is only available from the context menu when there are unsaved changes to the

selected module.

Module names are temporary and are not saved to memory. When you save a module, the

programs it contains are saved with their respective names; the Module name is not saved.

When you reopen the file to which the module programs were saved, Adept DeskTop opens a

module that has the same name as the first file in the module.

Save All Modules

This operation saves all the modules to the controller, with the last filename used to load or save each

module.

Saving Programs in MicroV+

In MicroV+ programs are not saved to individual files. You cannot save only selected programs to the

controller: all programs and data are saved to the contents of the NVRAM, overwriting existing data.

MicroV+ programs are loaded from NVRAM into RAM, and saved from RAM into NVRAM.

When the programs are saved into NVRAM, any existing programs are overwritten by the

programs being saved.

To avoid overwriting existing programs, you must first load all programs from NVRAM to

RAM, create your new programs, and then save all programs back into NVRAM.

Selected item Corresponding Keyword and effect

Independent of the selection before select-ing Save As:

All STORE, program name is empty

All + with Data STOREP and program name is empty

When a module is selected:

Selection Only STOREM with the Module name selected but

without any data

Selection Only + with Data STOREM with the Module name selected and

with all the data

When a program is selected

Selection Only STORE with the program name selected

Selection Only + with Data STOREP with the program name selected


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Figure 20 Saving Micro V+ Files

Saving programs to NVRAM

Saving programs to NVRAM saves all data that is in RAM and saves it to the NVRAM memory on the

controller. Saved data includes:

All programs

All variables

The related MicroV+ keyword for this action is STORE. See the MicroV+ Language Reference for details

on storing files to NVRAM.

To save a program to NVRAM:

In the toolbar, select the Save Asicon, and select to NVRAM. See Figure 20.

Alternatively, right-click in the program list and select Save As > to NVRAMfrom the

context menu.

Saving Programs to the PC

Saving programs to a PC provides an alternative to saving and overwriting NVRAM memory.

Programs are saved to a single file that can then be opened from Adept DeskTop.

If needed, program files saved on the PC can later be saved to the controller NVRAM

memory

When you store to PC you can optionally choose to save only programs, or all data, which

includes programs and variables.

To save a program to the PC:

In the toolbar or context menu, select Save As > to PC

In the Opendialog that opens create the filename an select the path for the file in whichprograms will be saved.


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Task Manager Control

The Task Manager control allows you to assign programs to tasks, visualize, and manage tasks that are

running on the controller.

From the Task Manager you can start or stop tasks as well as launch debugging of programs

in the task.

You assign programs to a tasks by dragging the programs from the Program Manager into the

Task Manager.

To open the Task Manager control:

1. From the menu, select View > Task Manager.

2. Alternatively, click the Open Task Manager icon in the Adept DeskTop toolbar.

3. The control window opens, similar to Figure 21.

Figure 21 Task Manager Control

What is a Task?

A task is a sequence of instructions that are defined by one or more programs. This sequence is also

referred to as the execution stack of the task.

Tasks can be executed and stopped either manually or programatically. Errors and system failures can

also halt or stop the execution of a task.

Task Status

Task status is indicated by a colored flag:

Red indicates that the task was stopped due to an error or was manually stopped.

Yellow indicates that task execution is paused or at breakpoint.

Green indicates that the task is running.

Black and white checker pattern indicates that the task execution has completed.

White indicates that the task is idle or primed.

Right-click here

to display the

context menu

Color of flag icons

indicate the status of a

task

Task Manager toolbar

Information on

selected task


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The display box displays information on the status of a selected task.

Number of Tasks

The number of tasks is limited as follows:

Micro V+: 4 tasks. Task 0 is the only task that can send instructions to a robot.

V+: 7 tasks.

V+ with Extensions: 28 tasks

Numbering of task is 0-based, that is the numbering of tasks starts at Task 0.

Assigning Programs to a Task Execution Stack

The programs and instructions that are in a task are referred to as the execution stack, or simply the

stack, of the task.

From Adept DeskTop you can only assign a single program to a task. However, if the program added to

the task calls one or more programs, these programs will be added to the execution stack when they

are called. Figure 22illustrates a 'called' program that was added to a stack after execution.

A single program can be assigned to more than one task.

Figure 22 Program Added to an Execution task by the CALL Instruction

Task Handling

In MicroV+, Task0 is the only task that can be assigned to a robot.

You cannot delete a task that is running, or delete or edit programs that are in a currently

executing task.

You can Zerothe memory when a task is running.

In the Program Editor, attempting to edit a program that is executing will generate an error,

or will be ignored.

After executing Task 1,

program 'pallet_loc' is added

to the stack

Before execution of Task 1 only

program 'pckplc_3' is in stack

this program

calls program'pallet_loc'


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Task Manager Toolbar and Context Menu Options

The following actions or tasks can be launched from the task bar or the context menu.

Execute Task

Executes the selected task. In the toolbar, this icon toggles to Select Programwhen no programs have

been assigned to the selected task.

Select Program

When an empty task is selected, prompts for a program to assign to the task and launches execution of

the selected task. In the toolbar, this icon toggles to Execute Taskwhen a selected task contains

programs in its stack.

Execute Using

Prompts for the name of a program and launches execution of the selected program, on the selected

task.

Debug Task

Launches debugging of a selected task.

Debug Using

Prompts for the name of a program and launches debugging of the selected program, on the selected

task.

Reset and Debug

Stops the executing of a task and restarts debugging from the first line of the first program in the stack.

Pause Task

Pauses the execution of the selected task at the next instruction.

Stop all tasks

Stops (pauses) the execution of all running tasks.

Retry Step

Retries the failed step and continues executing the task. If the selected task was paused or stopped due

to an error, attempts to re-execute the current step and continue execution.

Proceed Task

Continue executions of a task. If the selected task was paused or stopped due to an error, this button

attempts to continue the execution of the task.

Kill Task

Clear the selected task of any programs. A program must be cleared from the stack before it can be

fully edited. Note that AUTO variables or calling arguments cannot be changed while a program is in atask stack.

Display only tasks used

When enabled, only the tasks that currently contain a stack (assigned programs) are displayed in the

Task Manager list.


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Copy Stack to Clipboard

Records the contents of the selected task stack to the Windows clipboard. If a program terminates with

an error, this allows you to copy and paste the stack contents and send it to the proper support person.

Note that the robot ID is also recorded in this operation. Figure 23shows an example of the contents of

a stack.

Figure 23 Text Content of a Task Stack Copied to the Clipboard

Refresh task list

Refreshes the status of the task list.


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Using the Task Manager Control

The Task Manager control allows you to assign programs to tasks, and visualize and manage tasks that

are running on the controller.

Programs added to the execution stack of a task are provided by the Program Manager

control.

Use the tool bar or context menu to modify tasks, debug tasks or run/stop tasks.

The Task Manager monitors controller events and will refresh the task status list when

needed.

Figure 24 Task Manager Control

Assigning Program to Tasks

Programs that open in the Program manager can be assigned (added) to tasks in the Task Manager.

The programs and instructions that are contained in a task are referred to as the execution stack.

To assign a program to a task stack:

1. Drag a program from the Program Manager list on a task in the Task Manager list.

2. Alternatively, select a task, then in the toolbar click the Select Programicon.

To remove programs from a task stack

1. Select a task.

1. If the task containing the program is running, you must stop the execution of the task.

2. From the toolbar or context menu, select the Kill Task.

Executing Tasks

You can execute, pause and debug programs from the Task Manager.

If a program in the task calls one or more programs that have not been opened, executing the task will

generate the error: Undefined program or variable name. Refer to V+ System Messages in the

V+ Reference Guidefor more details.

Task Manager toolbar

Color of flag indicates the status

of a task

Right-click to display the

context menu

Displays status of selected task


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To execute a task:

1. Select a task in the Task Manager.

2. If the task already contains instructions (one or more programs) select Execute Taskfrom the

toolbar or context menu

3. If the task is empty, select Select Program, and enter the name of the program that you wantto execute in this task.

4. The flag beside the task will change color to indicate the progress/status of the program.

To pause a task:

Select the task in the list, then select Pause Taskfrom the toolbar or context menu. This

stops the task at the next execution in the running program.

To pause all tasks that are running, select Stop All Tasks. This pauses all tasks that are

currently executing.

To resume execution of a task that has been paused, select Retry Failed Stepor Proceed

Task.

To debug a program:

You can launch debugging of programs from the Task Manager. For more details on debugging

programs see Debugging Programs.

1. Right-click on a task in the Task Manager to display the context menu as shown in Figure 25.

2. If the task is empty (no programs), select Debug Using. You will be prompted to provide the

name of the program you want to debug. The program will open in the Program Editor window.

3. If the task contains programs, select Debug Task. The task programs will open in the Program

Editor window. Reset and Debugwill reset variable values and restart the debugging of a

program from the beginning.

4. Debugging messages and status appear in the bottom pane of the Task Manager window.

Figure 25 Debug Using command adds program and launches debugging

If the task stack is empty, you can

add a program to the task list and

launch debugging from the Task


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Program Editor

The Adept DeskTop Program Editor is an online, interactive editor that includes program debugging

functionality.

The editor performs syntax checking and formatting while you are programming.

You can open up as many programs as needed.

Program pages can be displayed as a group of tabs, or 'tiled' and displayed in horizontal or

vertical windows, which allows you to compare two or more routines. An example is shown in

Figure 26

Figure 26 Program Editor

Context Sensitive Help on KeywordsYou can obtain help on a V+ or MicroV+ keyword directly from the Program Editor.

To obtain Keyword help:

1. Click on a keyword and right click to obtain the context menu

2. Select the keyword help item, as illustrated in Figure 27.

Figure 27 Obtaining Keyword Help in the Program Editor

Program Editor toolbar

Status bar indicates: line and

column number of the cursor

position, error message, and

keyword help

Keyword tooltip displays

keyword syntax and

description when you move

(hover) over with mouse

Tabs show programs

currently open in the

Program Editor

Click here

to open online help page

for selected keyword


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Viewing Programs in The Program Editor

Figure 28 Displaying programs in Vertical or Horizontal groups

You can split (tile) the display in the Program Editor into vertical or horizontal groups. Figure 28

illustrates two vertical groups, one containing two tabbed program windows.

To split the Program Editor Window into groups:

1. In the Program Editor click on a tab and drag it elsewhere in the Program Editor window

2. Release the mouse to open a context menu.

3. Select an option from the context menu.

Figure 29 Creating Tab groups in the Program Editor

Program Editor Toolbar

The following list gives a quick description and keyboard shortcut of tasks you can carry out in the

Program Editor.

Cut(Ctrl+X): Cut the selected text.

Two vertical tab groups

each with its own toolbar

and status bar

Tabs group at right has

two open programs

Drag tab onto Program Editor

Select tab group option

from context menu


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Copy: Copy the selected text.

Paste: Paste the text in the clipboard to the selected position.

Undo last change: Erases last text change made to current file, returning it back to

previous state.

Redo last undo

: Reverses the previousUndo

command; returning text back to state before

the Undo.

Find/Replace: Opens the Search and Replaceform, as illustrated in figure

Toggle breakpoint at current line: Add or remove breakpoints to a program. Breakpoints

provide a way to set a point in the program where the program will automatically pause

when it reaches that point. This optimizes debugging so you don't have to single step

through the entire program.

Clear all breakpoints: Removes all break points in the active program.

Step into: Single step operation that will enter a subroutine call.

Step over: Single step operation that skips stepping through a subroutine call. The

subroutine is executed in it entirety.

Jump to current line and step: Starts the execution of the program, in step mode, starting

with at the current line (where the cursor is positioned).

Retry line: Retries the current line.

Proceed execution: Continues program execution.

Figure 30 Search and Replace Form used by the Program Editor

Printing Programs from the Program Editor

Print options are available from the Adept DeskTop menu. This allows you to print contents of the

Program Editor. To access print options, from the Adept DeskTop menu select

File > Page Setup...: Opens the Page Setupdialog in which you can set paper orientation,

paper size, and margins.

File > Page Preview...: Opens the Print Previewdialog in which you can visualize the

print output before launching the print job.

File > Print: Opens the Printdialog in which you can select the printer, print range and

number of copies.


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Syntax Highlighting

The default syntax highlighting colors can be modified in the Options window. See Setting Controls

Options.


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Using the Program Editor

Figure 31 Using the Program Editor

Opening the Program Editor

The Program Editor opens when you open a V+ or MicroV+ program.

To open the Program Editor

Do any of the following actions:

From menu select File > New Program.

In the Program Manager control toolbar select the Create New Program icon.

In the program Program Manager control toolbar select the Open Program icon.

Double-clack on a program in the Program Manager or Task Manager.

Formatting and Syntax Checking

As each line of program is entered, it is sent down to the controller dynamically. The controller

performs the formatting and checking, reports back the resulting format and the PC editor is updated to

reflect this.

In most cases, recognized keywords are properly indented in the code.

Elements in the program code are automatically displayed according to syntax hig lighting preferences

set in the Options form. For example, by default, keywords display in blue text, comments display in

green.

Tooltip appears

when you hover

over with mouse

Program Editor

toolbar

Breakpoint


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Figure 32 Automatic Formatting of Code in Program Editor

Detecting Errors

There are many aids in the Program Manager to assist you in finding errors in programs.

Syntax highlighting: Some errors are detected by the syntax checker. These errors are

highlighted in different color (red, by default) from the rest of the code.

Status bar: The status bar displays the last error message reported by V+ or MicroV+ on

the controller, as illustrated in Figure 33. It also shows the line (Ln:) and column (Col:)

position of the cursor.

Program Manager Icons: In the Program Manager, the program containing an error is

indicated by an icon with a red "?" character.

Tooltips: Tooltips appear at various places in the Program Editor when you hover and pause

over items with the mouse.

Figure 33 Display of Errors in the Program Editor

Debugging Programs

Program debugging integrated into the Program Editor. Debugging allows you to interactively step

through a program execution while simultaneously displaying variables and states.

New line is typed, starting

at left margin

After 'Enter/Return' key is clicked, the

new line is automatically indented

Text highlighting colors

can be modified in the

Options form

Error tooltip

Error message in status

bar provides description

and message number


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You can have as many active debugging sessions as there are tasks. This feature allows you

to debug multiple tasks.

The Watch Variable control assists in debugging programs. You can observe changes in the

values of variable as you step through the program. See the Watch Variable Controlsection

for more details.

Breakpoints

Set breakpoints at a point of interest in a program where you want to pause the execution of

the program and observe the value of variables.

An executing program will stop at a breakpoint and then wait for a command to step through

the code or resume execution.

The corresponding keyword for a breakpoint is BPT.

To add and remove breakpoints in a program:

Breakpoints must be set after the first executable statementin a program. You cannot set a breakpoint

before the .PROGRAM statement, any AUTO and LOCAL statements, and all comments and blank lines

at the start of the program.

In the Program Editor, click to the left of a code line, in the left margin of the editor window.

The breakpoint is indicated by a dot and a highlighted line; similar to Figure 34. The color

may vary depending on personal preferences set in the Options form. See Setting Controls

Options.

To remove a breakpoint, click on the breakpoint dot, at the left side of the line.

You cannot add breakpoints before the first executable statement in the program.

You cannot add or remove breakpoints in a program that is actively executing.

Figure 34 Breakpoints in a program

To step through a program using breakpoints:

1. When a execution of a program stops at a breakpoint the line is highlighted in yellow (default

color). The Program editor is in 'step' mode.

2. To continue the execution and debugging of the program in step mode, you must use one of the

following actions:

Step into: Single steps into program lines. If it encounters a subroutine, it steps through the

subroutine, then continues stepping through the program.

Click at left of line to set/remove a breakpoint


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Step over: Single steps into program lines. If it encounters a subroutine, it executes the

subroutine the continues in step mode at the first line after the subroutine call.

Jump into Current Line and Step: Startssingle step mode, starting at the current line,

where the cursor is positioned.

Retry: Retries the current line

Proceed: Exits step mode and continues program execution.


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The Code Library tool is used to store code samples, also called clips, that can reused.

Adept DeskTop also provides some predefined code clips that you can use as a starting point.

Code clips added by the user are stored to the preferences folder in Windows on the

computer. This ensures that when you reinstall or upgrade Adept DeskTop, your code clips

are reloaded into the Code Library.

Code clips provided with Adept DeskTop are protected files. They cannot be modified or

deleted.

To open the Code Library

1. From the Adept DeskTop menu, select View > Code Library.

2. Alternatively, from the Adept DeskTop toolbar, select the Code Library control icon.

Figure 35 Code Library Control

Using the Code Library

From the code library you can create new programs, insert code clips into open programs, or open the

Clip Editor to edit existing clips.

To create an new program from a code clip:

1. Select a code clip.

2. From the toolbar select the Create new program from clipicon.

3. This opens the New Programform in which you must provide the program name.

4. A new program page opens page in the Program Editor, containing the code from the selected

code clip. See Creating and Editing Code Clipsfor more details.

Description of selected code

clip, if exists

Yellow icons indicate

protected code clips

Code clip created by user

Group of code clips

Code Library toolbar


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To create a new code clip:

New clips are created and define in Clip Editor. To open the Clip Editor do one of the following:

From the toolbar, click the Create a new library entry icon, or select a New from the

context menu. This opens a blank Clip Editor session.

Select a code clip from which you want to reuse the code. ClickCopy

, then,Paste

. This

opens the Clip Editor, containing the code copied from the selected clip.

Select a code clip and click Edit. You can then rename and edit this code clip in the Clip

Editor. See Creating and Editing Code Clipsfor more details.

To insert a code clip into an open program:

Select a code clip and drag it onto an open program in the Program Editor.

This adds the code contained in the clip, starting at the line where you drop the clip.

Adept DeskTop will not allow you to drop the code clip into certain incorrect positions in a

program. For example after the.ENDstatement.

To delete a code clip:

Note that you cannot delete the protected code clips that are installed with Adept DeskTop. Protected

code clips are indicated by a yellow icon.

1. Select the clip you want to delete.

2. From the toolbar click the Remove clip from systemicon.

Related Topics

Creating and Editing Code Clips


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Creating and Editing Code Clips

Use the Clip Editor to create new clips or edit existing code clips.

Figure 36 Clip File Editor

To open a create an new code clip:

1. From the Code Library toolbar, select Create a new library entry.

2. Fill in the fields described below and type or paste code into the Data field.

3. Click Ok to save this clip and add it to the Library.

To edit an existing code clip:

1. Select the code clip to edit in the Code Library list.

2. From the Code Library toolbar, select Edit Clip.

3. Alternatively, you can double-click on the Clip name to open the Clip Editor.

4. Enter the required modifications to the text fields in the Clip Editor and Ok to save the

modifications.

Note:A clip does not require a '.PROGRAM' and '.END'. However, if either is used

in the clip, then both are required.


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Clip Editor Text and Data Fields

Name

You must enter an Name. This name is the node name that is displayed in the Code Library list view

display. The name must be unique in its Group.

Group

You must provide a Group name. Select a existing group from the drop-down list, or create a new

group by typing the name in the field. The clip will be displayed under this group name in the Code

Library.

Description

Descriptions are optional but recommended. Enter a description that describes the purpose or use of

the code in the clip.

Data

Use this area to type or paste contents of the clip file.

A clip does not require a '.PROGRAM' and '.END'. However, if either is used in the clip, then both are

required.

Supported Controllers

Select the controller types that this code clip is compatible with. This enables the Code Library control

to determine the display setting for this clip.

Related Topics



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Keyword Browser Control

The Keyword Browser control displays and manages all the keywords available for the type of system

connected; either V+ or MicroV+.

Keywords from can be dragged into open programs in the Program Editor.

To open the Keyword Browser:

The keyword browser is typically open in the default desktop layout and is tabbed in auto hide mode to

the left of Adept DeskTop window.

1. From the Adept DeskTop menu, select View > Keyword Browser.

2. Alternatively from the toolbar, click the Open Keyword Browser icon.

To drag keywords to the Program Editor:

Select a keyword and drag the keyword required position in a program in the Program Editor.

To drag the keywords with their arguments, enable the toolbar icon:Drag keyword and

arguments.

Adept DeskTop will not allow you to drag keywords to certain positions in a program. For

example, you cannot drag a keyword before .PROGRAM or after .END.

Figure 37 Keyword Browser Control

Keyword Browser Toolbar

The toolbar provides the following options for the Keyword Browser control.

Icons indicate type of

keyword:

I - Instruction

F - FunctionM - Monitor Command

Description of

selected keyword

Toolbar provides

display options

Yellow icons indicate

advanced keywords


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Grouped

Enabling Groupeddisplays all the keywords grouped by similarity in function, as illustrated in Figure

37.

Alphabetic

Enabling Alphabeticthe keywords in three groups: Functions, Instructions and Monitor Commands.

The keywords are displayed alphabetically within each group.

Drag Keyword

When Drag Keywordbutton is enabled, only the keyword can be dragged to the Program Editor, the

default arguments are not.

Drag Keyword and Instructions

When this button is enabled both the keyword and the default arguments can be dragged to the

Program Editor.

All

By default, the Keyword Browser tool displays only the commonly used keywords.

When Allis enabled, this button is selected, advanced keywords are also displayed are

displayed in the selected display mode.

Advanced keywords are indicated by yellow icons.

Help

Displays online help for the selected keyword.


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Variable Manager Control

The Variable Manager control allows you to view, search, and modify variables that are in memory. By

default, the Variable Manager monitors and displays GLOBAL variables, however you can add

monitoring of AUTO and Local variable for specific tasks and programs.

From the Variable Manager you can:

Drag a variable into a program in the Program Editor.

Select any variable and modify its value.

For location type variables, you can either manually enter a new value or record the current

position of the robot.

Create and remove variables.

Monitor variables in tasks.

To open the Variable Manager control:

1. From the menu, select

adept desktop

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